9-26-2026 Turret Shoot on the Move

Zachary Martinez, Anthony Wheeler

Goals

  • Create a shoot on the move system for the turret bot

  • Test the shoot on the move algorithm

Results

  • Wrote aimAtHub() in SuperSystem, which uses the robot’s translational and angular velocity to create a “lookahead pose”, where the robot would be if its velocity stayed constant in a given “factor”. This is provided by NerdDrivetrain.

  • Also wrote aimAtHubMason() which only uses the translational velocity for the lookahead pose, then adds the velocity tangential to the turret as the robot rotates. This may be more accurate?

  • Set up drivetrain simulation for the turret, allowing us to look at how the turret aims. Field2d logging seems broken right now, so Elastic cannot place the robot’s position in the field. For now, use AdvantageScope to visualize the position of seperately logged Pose2d objects.

Continuation

  • Test SOTM with the real turret bot.